Develop lejos Programs Step by Step

Transcription

1 Develop lejos Programs Step by Step Version 0.6 Juan Antonio Breña Moral 12-Apr-09 Juan Antonio Breña Moral Page 1 of 250

2 Index I.- Preface... 9 I.1.- Introduction... 9 I.2.- Audience... 9 I.3.- Organization... 9 I.4.- Comments & Questions I.5.- Acknowledgments I.6.- Ebook requirements I.7.- About the author I.8.- About the collaborators Introduction Lego Mindstorms History NXT Brick Alternatives for Lego Mindstorms NXT LeJOS Project LeJOS solutions The project in numbers LeJOS Packages LeJOS documentation Alternatives for lejos project To do list for lejos project Summary Getting started with lejos Introduction LeJOS Installation with lejos Installer Introduction Java JDK Installation Checking your J2SE Installation Installing lejos project with lejos installer Manual Installation Prerequisites Lego Mindstorm NXT Software Java Developer Kit LibUSB Filter Driver for Microsoft Windows LeJOS NXJ Install lejos firmware into your NXT brick Introduction Install lejos firmware using a GUI Install lejos firmware using a shell console Eclipse IDE and Eclipse plugin for lejos Introduction Installing Eclipse Installing Eclipse plugin for lejos Configuring Eclipse plugin for lejos Creating a new project in Eclipse IDE...61 Juan Antonio Breña Moral Page 2 of 250

3 2.6.- Developing your first program with NXJ Summary Basic concepts about Java Introduction Learning the example HelloWorld.java Discovering the sections in any Java class The Import Area: Class encapsulation: The main method: Summary Sensors Introduction Ultrasonic Sensor Compass sensor GPS Using the package javax.microedition.location Using the package lejos.gps NXTCam Introduction Install NXTCam driver Install NXTCamView Using NXTCamView to Train NXTCam NXTCam NXJ API NXTLine Touch sensor Sound sensor Summary Actuators Introduction NXT Motors PF Motors RC Servos and DC Motors with NXTe/LSC Introduction NXTe architecture Servos LeJOS and NXTe/LSC RC Servos with NXTServo RC Servos systems with MRS H Using MRS H01 with Bluetooth Using MRS H01 with I2C Summary Graphical user interfaces with lejos Introducction Juan Antonio Breña Moral Page 3 of 250

4 6.2.- LCD System.out RConsole Learning javax.microedition.lcdui Using the class Graphics Creating Textmenu for your GUI Summary Communications Introduction Communications for System integrations Communications for NXT integrations Strategies Summary Communications I: Bluetooth Introduction History Bluetooth Architecture Bluetooth Protocols Bluetooth profiles Bluetooth Networks Piconet Scatternet Bluetooth Connections How to use Bluetooth with lejos Discovery Bluetooth Device Connect with a Bluetooth device Exchange Data between a NXT Brick with another one or a Bluetooth device Listen a Bluetooth connection LeJOS examples using Bluetooth Summary Communications II: USB Introduction Send data from PC to NXT Receive data from PC Summary Communications III: RS Introduction Send data with RS Receive data with RS Summary Communications IV: I2C Juan Antonio Breña Moral Page 4 of 250

5 Introduction I2C Bus terminology Terminology for bus transfer LeJOS API I2C Examples with lejos Migrating code I2C from others platforms Migrating I2C Code from RobotC to Java lejos Migrating I2C Code from NXC to Java lejos Summary Subsumption architecture Introduction Subsumption package in NXJ Subsumption example Multithreading with Java lejos Introduction The Thread concept The Thread life cycle Using the class Thread Method start Method isalive Method sleep Examples Example1: LineFollower Example2: Stereo US LeJOS and mobile phones Introduction Install SDKs Installing J2SE SDK Installing Java ME Wireless Toolkit Install IDE Installing Eclipse IDE Installing Eclipse ME Plugin Install Optional Software Proguard Antenna Creating your first Java ME project Creating a new Java ME Project Java ME Settings Add a HelloWorld Middlet Test your Middlet with a simulator Package your application Deliver your Middlet into a Mobile Phone Deliver Java ME with Nokia PC Suite Juan Antonio Breña Moral Page 5 of 250

6 15.- LeJOS Tools Introduction NXJFlashg NXJBrowse NXJConsole NXJMonitor LeJOS statemachine developer toolkit Introduction Installing LeJOS statemachine developer toolkit Creating the first project with the toolkit Videos Summary Robotics projects Introduction Steering behaviors Introduction Behaviors Obstacle Avoidance Parallel Architectures Introduction JCSP re JCSP re Stack The Process Orientated Design Pattern LeJOS & JCSP re for building robot controllers Line follower robot with JCSP re & lejos FAQ How to reinstall Lego Firmware Introduction Download latest Lego firmware Set your NXT brick in update mode Reinstall Lego firmware Using Tortoise SVN to collaborate in lejos project Introduction Installing Tortoise SVN Downloading LeJOS Repository Using Tortoise in LeJOS How to be a new LeJOS Developer How to use beta software from lejos SVN? Make a checkout from lejos SVN Copy snapshot to your lejos installation How to package NXJ programs with Jar Links LeJOS links Java links Lego links Robotics links Juan Antonio Breña Moral Page 6 of 250

7 Technology links Software links Multithreading Links Juan Antonio Breña Moral Page 7 of 250

8 Revision History Name Date Reason For Changes Version Juan Antonio Breña Moral 12/01/2008 Initial release 0.1 Juan Antonio Breña Moral 18/02/2008 Add FAQ section 0.2 Juan Antonio Breña Moral 09/03/2008 Add Tortoise SVN Section 0.3 Juan Antonio Breña Moral 23/06/2008 Add lejos RC Car Project 0.4 Juan Antonio Breña Moral 20/03/2009 Book reorganization 0.5 Juan Antonio Breña Moral 10/04/2009 Add RS485 Chapter 0.6 Juan Antonio Breña Moral Page 8 of 250

9 I.- Preface I.1.- Introduction In next 10 years, Robotics will become in one of the most helpfully technology for the society. Currently, robotics field is not in a mature phase and it needs new ideas to evolve but this goal is not easy because robotics is a complex science and it has several research lineas as as Localization, Computer vision & Neural Networks for example. In the market exists many products to learn basic concepts and techniques about robotics and Artificial Intelligence but in my personal opinion, Lego Mindstorms NXT is the best platform to be used in robotics courses at secondary school, university bachelors, and postgraduate programs / Phd. Lego Midstorms NXT has many ways to develop software for robots but this ebook only offer support for lejos project which offers the possibility to develop with Java. This ebook is a project to spread the knowledge about lejos project and Java techniques to develop software for robots. This ebook is live and every 3-6 months, I will try to update with new ideas and techniques from the projects and the readers. Enjoy, Learn, Contact with me to improve the ebook and share ideas. Juan Antonio Breña Moral. I.2.- Audience The ebook has been written to be read by the following kind of users: Lego Mindstorms users LeJOS Developers Java Developers Teachers who teach robotics courses Students in Secondary School Students in University Students in Postgraduate programs / Phd Scientifics Engineers I.3.- Organization The ebook has been organized in the following chapters: Chapter 1: Introduction Juan Antonio Breña Moral Page 9 of 250

10 This chapter explains what Lego Mindstors NXT is and the context in the market. The chapter explains the origins, history and milestones with the product Lego Mindstorms NXT. Chapter 2: LeJOS project This chapter explains the LeJOS Project, API, Tools, Project structure, etc. Chapter 3: Getting started with lejos project This chapter explains how to install LeJOS Project to execute the, API, Tools, Project structure, etc. Chapter 4: Basic concepts about Java This chapter explains basic concepts about Java. Chapter 5: Sensors This chapter explains how to use sensors from NXT Kit or sensors from NXT providers as Mindsensors, Hitechnic, CANCAN and others. Chapter 6: Actuators This chapter explains how to use actuators. This chapter includes NXT Motors, PF Motors, Servos, DC Motors and RCX Legacy Motors. Chapter 6: GUI This chapter explains how to use LCD in NXT brick Chapter 7-11: Communications These sets of chapters explain how to use Bluetooth, USB, RS485 & I2C Protocols. Chapter 12: Sumsubption architecture This chapter explains how to use sumsubption architecture Chapter 13: Multithreading This chapter explains how to manage a java feature which allow your robot manage in parallel multiple tasks. Chapter 14: LeJOS and mobile phones This chapter explains how to use some lejos with mobile phones. Chapter 15: LeJOS Tools This chapter explains how to use some tools which are included in every lejos release and others from lejos community. I.4.- Comments & Questions Please, I would like to receive your feedback about the book to improve it. I.5.- Acknowledgments This Project has been posible with the help of my family and friends as Juan Diego Avendaño, Antonio Tejero, Bruno Piñeiro, Isaac Olmos & Marina Perez. I have to congratulate to Brian Bagnall because in the past, he gave the opportunity to join to the lejos developer team. Besides I give my sincere thanks to my collegues in the project as Lawrie Griffiths, Andy Shaw, Roger Glassey & Matthias Paul Scholz, Juan Antonio Breña Moral Page 10 of 250

11 they have nice ideas about the future of the project and they have strong experience with Java. Everyday, I learn new things with them. Finally I have to give many thanks for my readers in special, Yu Yang, Deepak Patik, Dhinakar Radhakrishnan, Takashi Chikamasa, Koldo, Craig Reynols, Matt Denton and Jose Maria Plaza. Sorry If I forgot some name. I.6.- Ebook requirements This ebook needs the following requirements to use correctly 1. Lego Mindstorms NXT Kit 2. Computer with your favorite OS (Windows, Linux or Mac OS) Note: For the moment, this ebook only offer support for Windows OS but I hope to expand the support for Linux too in 2009 I.7.- About the author Further information: Juan Antonio Breña Moral collaborates in lejos Research team since He works in Europe leading Marketing, Engineering and IT projects for middle and large customers in several markets. Currently, he teachs NXT courses and study Phd about Robotics and Artificial Intelligence in URJC. I.8.- About the collaborators Frank Zimmermann is a Doctor in Mathematics and Professor for CIS at the University of Applied Sciences Nordakademie since Frank teaches Java, Software Engineering and Information Systems at the university. He discovered lejos and NXT Technology in Further information: Patrick Lismore a Napier University Edinburgh student finishing his Bsc (Hons) Software Technology. An aspiring entrepreneur and IT professional who have experience teaching programming and robotics at Carnegie Mellon University. Patrick first got involved with lejos and NXT's while studying in his last year of University. Patrick research at University involved designing and developing concurrent robotics software using lejos, JCSP re and Bluetooth. Juan Antonio Breña Moral Page 11 of 250

12 Further information: Juan Antonio Breña Moral Page 12 of 250